/**
 * @file SubCliffSensor.h
 * @author 
 * @brief 订阅探地传感器topic数据
 * @version 1.0
 * @date 2020-08-18
 * 
 * @copyright Copyright (c) 2020
 * 
 */

#pragma once
#include <memory>
#include "rclcpp/rclcpp.hpp"
#include "std_msgs/msg/u_int32.hpp"
#include "sensor_msgs/msg/range.hpp"
#include "std_msgs/msg/u_int8_multi_array.hpp"

namespace behavior_controller
{
    namespace SubCliffSensor
    {
        void SubCliffSensorInfo(rclcpp::Node::SharedPtr &node_handle);
        void sub_callback(const sensor_msgs::msg::Range::SharedPtr msg);
        void sub_callback2(const std_msgs::msg::UInt8MultiArray::SharedPtr msg);

    }; // namespace SubCliffSensor
} // namespace behavior_controller